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tgSCASineControl Class Reference
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Public Member Functions

 tgSCASineControl (const double controlStep, tgImpedanceController *p_ipc, tgPIDController::Config pidConfig, const double amplitude, const double frequency, const double phase, const double offset, const double length)
 
virtual void onAttach (tgSpringCableActuator &subject)
 
virtual void onStep (tgSpringCableActuator &subject, double dt)
 
void updateTensionSetpoint (double newTension)
 
void updateControlLength (double newControlLength)
 
const double getCommandedTension () const
 
virtual void onSetup (tgSpringCableActuator &subject)
 
virtual void onTeardown (tgSpringCableActuator &subject)
 

Detailed Description

Definition at line 29 of file tgSCASineControl.h.

Constructor & Destructor Documentation

tgSCASineControl::tgSCASineControl ( const double  controlStep,
tgImpedanceController *  p_ipc,
tgPIDController::Config  pidConfig,
const double  amplitude,
const double  frequency,
const double  phase,
const double  offset,
const double  length 
)
Todo:
check all of the above.

Definition at line 27 of file tgSCASineControl.cpp.

Member Function Documentation

void tgSCASineControl::onAttach ( tgSpringCableActuator &  subject)
virtual

Notify the observers when an attach action has occurred. Will only occur once, typically before setup

Parameters
[in,out]subjectthe subject being observed

Reimplemented from tgObserver< tgSpringCableActuator >.

Definition at line 65 of file tgSCASineControl.cpp.

virtual void tgObserver< tgSpringCableActuator >::onSetup ( tgSpringCableActuator &  subject)
inlinevirtualinherited

Notify the observers when a setup action has occurred.

Parameters
[in,out]subjectthe subject being observed

Reimplemented in tgCPGMGCableControl, and tgCPGCableControl.

Definition at line 61 of file tgObserver.h.

void tgSCASineControl::onStep ( tgSpringCableActuator &  subject,
double  dt 
)
virtual

Notify the observers when a step action has occurred.

Parameters
[in,out]subjectthe subject being observed
[in]thenumber of seconds since the previous call; must be positive

Implements tgObserver< tgSpringCableActuator >.

Definition at line 70 of file tgSCASineControl.cpp.

virtual void tgObserver< tgSpringCableActuator >::onTeardown ( tgSpringCableActuator &  subject)
inlinevirtualinherited

Notify the observers when a teardown action has occurred.

Parameters
[in,out]subjectthe subject being observed

Definition at line 67 of file tgObserver.h.

The documentation for this class was generated from the following files: